You’re right! Rose didn’t have Steven because she wanted to run away from her problems or try and force them onto him. Remember that in that episode, Steven is projecting his feelings because he feels that way - he feels his Mom only gave birth to him so she could run away from her problems and make them his, so she could leave other people to clean up her messes. 

But thats not true at all.

I believe Rose when she says that what she left in Steven’s video tape was true… that she wanted to have him. She wanted to give him the chance to exist. She wanted Steven to be able to live a full and fulfilling life, a life unique and special. Steven himself even agrees that Rose meant it when she said she wanted to have him. 

I think Rose definitely wanted to leave her past behind, and I also believe that guilt was part of the driving force that lead her not to make the choice to have Steven, but gave her the conviction to have no regrets over it. Rose was an advocate for being able to live freely and to allow others to make their own decision - so I think that her decision to have Steven is definitely an extension of that belief. She wanted to be a Mother, and so she was. I know Rose loved Steven, truly and genuinely and completely. She was willing to give up her physical form and her existence indefinitely for him to exist - it wasn’t like what happened when she was Pink Diamond where she would give up one role to be reborn in another. She indefinitely and entirely gave up herself to allow Steven to be born, and I think that, in itself, shows the biggest aspect of her growth as a character.

No longer was Rose Quartz selfish in her decisions. 

When I said that Rose would hopefully someday have someone else fulfill her hopes for the Earth, I didn’t mean it in the sense that she’s passing her problems down to Steven - I meant it in the sense that she wanted someone better than herself to lead the Gems of Earth and to carry her message in a way that she knew herself, she could never do. Rose was aware, and probably always had been aware, that she was not the right person to liberate Gems from the Diamond Authority. I think after the rebellion, the Gem War, and the subsequent aftermath, taught her that someone else was meant to do what she wanted to do. Someone better than her. 

It really puts this into a different context, doesn’t it?

“I always thought I might be bad, now I’m sure that its true
Cause… I think you’re so good, and I’m nothing like you.
Look at you go, I just adore you,
I wish that I knew…
What makes you think that I’m so Special…

If I could, begin to do, something that does right by you,
I would do about anything,
I would even learn how to love…”